/********************************************************************************
 * Copyright 2013 The Robotics Group, The Maersk Mc-Kinney Moller Institute,
 * Faculty of Engineering, University of Southern Denmark
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 ********************************************************************************/

#include "ContactStrategy.hpp"

#include "ContactStrategyData.hpp"
#include "ContactStrategyTracking.hpp"

using namespace rw::core;
using namespace rw::math;
using namespace rw::proximity;
using namespace rwsim::contacts;

std::vector< Contact > ContactStrategy::findContacts (ProximityModel::Ptr a,
                                                      const Transform3D<>& wTa,
                                                      ProximityModel::Ptr b,
                                                      const Transform3D<>& wTb) const
{
    ContactStrategyData data;
    return findContacts (a, wTa, b, wTb, data);
}

std::vector< Contact > ContactStrategy::findContacts (ProximityModel::Ptr a,
                                                      const Transform3D<>& wTa,
                                                      ProximityModel::Ptr b,
                                                      const Transform3D<>& wTb,
                                                      ContactStrategyData& data) const
{
    ContactStrategyTracking tracking;
    return findContacts (a, wTa, b, wTb, data, tracking);
}

PropertyMap& ContactStrategy::getPropertyMap ()
{
    return _propertyMap;
}

const PropertyMap& ContactStrategy::getPropertyMap () const
{
    return _propertyMap;
}

void ContactStrategy::setPropertyMap (const PropertyMap& map)
{
    _propertyMap = map;
}
